//
// Created by root on 22-10-28.
//
#include<iostream>
#include<string>
#include<vector>
#include <opencv2/opencv.hpp>
#include <Eigen/Dense>

extern int FOCAL_LENGTH;
extern int ROW;
extern int COL;
extern std::string IMAGE_TOPIC;
extern std::string IMU_TOPIC;
extern std::string FEATURE_TOPIC;
extern std::string FISHEYE_MASK;
extern std::string PREFIX;
extern std::string CAM_MODEL;
extern std::vector<std::string> CAM_NAMES;

extern double ACC_N, ACC_W;
extern double GYR_N, GYR_W;
extern Eigen::Vector3d G;

extern int MAX_CNT;
extern int MIN_DIST;
extern int STARTIN;
extern int ENDIN;
extern int WINDOW_SIZE;
extern int FREQ;
extern double F_THRESHOLD;
extern int SHOW_TRACK;
extern int STEREO_TRACK;
extern int EQUALIZE;
extern int FISHEYE;
extern bool PUB_THIS_FRAME;
void parametersInitialize();
